CN111362170B - Control method and device for hanger cable reel and crane - Google Patents
Control method and device for hanger cable reel and crane Download PDFInfo
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- CN111362170B CN111362170B CN202010248076.1A CN202010248076A CN111362170B CN 111362170 B CN111362170 B CN 111362170B CN 202010248076 A CN202010248076 A CN 202010248076A CN 111362170 B CN111362170 B CN 111362170B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/28—Other constructional details
- B66D1/40—Control devices
- B66D1/48—Control devices automatic
- B66D1/485—Control devices automatic electrical
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66D—CAPSTANS; WINCHES; TACKLES, e.g. PULLEY BLOCKS; HOISTS
- B66D1/00—Rope, cable, or chain winding mechanisms; Capstans
- B66D1/54—Safety gear
- B66D1/56—Adaptations of limit switches
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- Mechanical Engineering (AREA)
- Control And Safety Of Cranes (AREA)
Abstract
The invention provides a method and a device for controlling a hanger cable reel and a crane. The invention improves the control precision and reliability of the synchronous motion of the lifting appliance cable and the lifting mechanism of the crane in the emergency operation mode, and reduces the labor cost.
Description
Technical Field
The invention relates to the technical field of cranes, in particular to a method and a device for controlling a cable reel of a lifting appliance and a crane.
Background
In the related art, in an emergency operation mode, a lifting appliance cable reel in a crane does not synchronously act along with the ascending or descending of a lifting mechanism of the crane, and related workers are required to manually operate a lifting appliance cable, so that the control precision is low, the reliability is poor, and the labor cost is high.
Disclosure of Invention
In view of the above, the present invention provides a method and an apparatus for controlling a spreader cable reel, and a crane, so as to improve the control accuracy and reliability of the synchronous motion of the spreader cable and a hoisting mechanism of the crane in an emergency operation mode, and reduce the labor cost.
In a first aspect, an embodiment of the present invention provides a method for controlling a hanger cable reel, where the method is applied to a controller; the controller is respectively connected with the reel motor and a control loop of the hoisting mechanism; the reel motor is connected with the hanger cable reel; the method comprises the following steps: receiving an emergency signal sent by a control loop; based on the emergency signal and the preset operation parameters, the operation state of the cable reel of the lifting appliance is controlled through the reel motor.
With reference to the first aspect, an embodiment of the present invention provides a first possible implementation manner of the first aspect, where the emergency signal includes a start signal and a direction signal; the preset operation parameters comprise preset speed; based on emergent signal and predetermine operating parameter, through the running state step of reel motor control hoist cable reel, include: sending a first motor control signal to a reel motor, controlling the movement direction of a hanger cable reel according to the direction signal indication through the reel motor, and running at a preset speed; the first motor control signal corresponds to the direction of movement indicated by the direction signal and the predetermined speed.
With reference to the first aspect, an embodiment of the present invention provides a second possible implementation manner of the first aspect, where the emergency signal includes a stop signal; based on emergency signal and predetermine operating parameter, through the step of reel motor control hoist cable reel's motion state, include: and sending a second motor control signal to the reel motor, and controlling the lifting appliance cable reel to stop running through the reel motor.
With reference to the first possible implementation manner of the first aspect, an embodiment of the present invention provides a third possible implementation manner of the first aspect, wherein the control loop is further connected to a hoisting mechanism; the method further comprises the following steps: receiving a speed feedback signal sent by a reel motor; judging whether the difference between the current running speed indicated by the speed feedback signal and the preset speed is greater than a preset speed threshold value or not; and if so, sending a first fault signal to the control loop so that the control loop controls the hoisting mechanism to stop running.
In a second aspect, the embodiment of the present invention further provides a method for controlling a cable reel of a spreader, where the method is applied to a control loop of a hoisting mechanism; a control loop of the hoisting mechanism is connected with the controller; the controller, the reel motor and the hanger cable reel are connected in sequence; the method comprises the following steps: when an emergency mode instruction triggered by a user is received, an emergency signal is sent to the controller, so that the controller controls the running state of the cable reel of the lifting appliance through the reel motor based on the emergency signal and preset running parameters.
With reference to the second aspect, an embodiment of the present invention provides a first possible implementation manner of the second aspect, wherein the control loop is further connected to a hoisting mechanism; the preset operation parameters comprise preset speed; the method further comprises the following steps: when a first fault signal sent by a controller is received, controlling a hoisting mechanism to stop running; and the controller receives a speed feedback signal sent by the reel motor, judges that the difference between the current running speed indicated by the speed feedback signal and the preset speed is greater than a preset speed threshold value, and sends the first fault signal to the control loop.
With reference to the second aspect, an embodiment of the present invention provides a second possible implementation manner of the second aspect, wherein the control loop is further connected to a cable reel detection limit and a hoisting mechanism; the cable reel detection limit is used for detecting the tightness state of the hanger cable reel; the method further comprises the following steps: when a second fault signal sent by the cable reel detection limit is received, controlling the hoisting mechanism to stop running; the second fault signal is used to indicate that the spreader cable spool is in an over-loosened or over-tightened state.
In a third aspect, an embodiment of the present invention further provides a control device for a hoist cable reel, where the control device is disposed in a controller; the controller is respectively connected with the reel motor and a control loop of the hoisting mechanism; the reel motor is connected with the hanger cable reel; the reel motor is connected with the hanger cable reel; the device includes: the signal receiving module is used for receiving an emergency signal sent by the control loop; and the control module is used for controlling the running state of the cable reel of the lifting appliance through the reel motor based on the emergency signal and the preset running parameters.
In a fourth aspect, the embodiment of the present invention further provides a control device for a cable reel of a spreader, where the control device is disposed in a control loop of a hoisting mechanism; a control loop of the hoisting mechanism is connected with the controller; the controller, the reel motor and the hanger cable reel are connected in sequence; the device includes: and the signal sending module is used for sending an emergency signal to the controller when receiving an emergency mode instruction triggered by a user so that the controller controls the running state of the cable reel of the lifting appliance through the reel motor based on the emergency signal and preset running parameters.
In a fifth aspect, an embodiment of the present invention further provides a crane, where the crane includes a hoisting mechanism, a control circuit, a controller, a reel motor, and a spreader cable reel, which are connected in sequence; in the third aspect, the control device for the hanger cable reel is arranged on the controller; and the control device of the hanger cable reel is arranged in the control loop.
The embodiment of the invention has the following beneficial effects:
the embodiment of the invention provides a method and a device for controlling a hanger cable reel and a crane, wherein after an emergency signal sent by a control loop is received, the operation state of the hanger cable reel is controlled by a reel motor based on the emergency signal and preset operation parameters; by the aid of the method, the control precision and reliability of synchronous motion of a lifting appliance cable and a lifting mechanism of the crane in an emergency operation mode are improved, and labor cost is reduced.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
In order to make the aforementioned and other objects, features and advantages of the present invention comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the prior art descriptions will be briefly described below, it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
FIG. 1 is a schematic diagram of a method for controlling a cable reel of a spreader in an emergency operation mode according to a related art embodiment of the present invention;
fig. 2 is a flowchart of a method for controlling a spreader cable reel according to an embodiment of the present invention;
fig. 3 is a flow chart of another method of controlling a spreader cable reel according to an embodiment of the present invention;
fig. 4 is a flow chart of another method of controlling a spreader cable reel according to an embodiment of the present invention;
fig. 5 is a flowchart illustrating a specific implementation process of a method for controlling a spreader cable reel according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of a method of lifting a spreader cable spool according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of a control device for a spreader cable reel according to an embodiment of the present invention;
fig. 8 is a schematic structural view of another control device for a spreader cable reel according to an embodiment of the present invention;
fig. 9 is a schematic structural diagram of a crane according to an embodiment of the present invention.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
At present, a hoisting mechanism of a crane is divided into a normal operation mode and an emergency operation mode. In an emergency operation mode, the cable reel of the lifting appliance cannot move along with the ascending or descending of the lifting mechanism, and the cable of the lifting appliance is easily hooked due to over-looseness or pulled and damaged due to over-tightness; in the related art, it is common to arrange maintenance personnel separately standing on the trolley to perform manual operation on the spreader cable. As shown in fig. 1, an operator 1 sends a start/stop signal and a direction signal (indicated as start/stop + direction signal in fig. 1) to an emergency motor through a control loop, so as to control the lifting mechanism to lift through the emergency motor (emergency power supply supplies power to the emergency motor), and an operator 2 sends a start/stop signal and a direction signal (indicated as start/stop + direction signal in fig. 1) to a reel motor through a control loop, so as to control the lifting of an electric saw cable through the reel motor (a hanger cable reel power supply supplies power to the reel motor), wherein the start/stop signal and the direction signal are not related to each other. In the mode, the hanger cable cannot automatically follow the action of the hoisting mechanism to act; moreover, when the manual operation is performed by maintenance personnel, the manual operation is easily influenced by human factors, the reliability is poor, the control precision is low, the following asynchronization condition is easily caused by improper operation, and the synchronism of a lifting appliance cable and a lifting mechanism is poor.
Based on the above, the method and the device for controlling the cable reel of the lifting appliance and the crane provided by the embodiment of the invention can be applied to the control process of the cable reel of the lifting appliance of the crane or other equipment.
To facilitate understanding of the present embodiment, a detailed description will be given of a control method of a hanger cable reel disclosed in the present embodiment.
The embodiment of the invention provides a control method of a hanger cable reel, which is applied to a controller; the controller is respectively connected with the reel motor and a control loop of the hoisting mechanism; the reel motor is connected with the hanger cable reel; as shown in fig. 2, the method comprises the steps of:
and step S200, receiving an emergency signal sent by the control loop.
The control loop may typically receive a control command triggered by an operator of the crane to control operation of a hoisting mechanism of the crane. When the control circuit receives an emergency mode instruction triggered by a user, an emergency signal can be generated, and when the emergency signal controls the hoisting mechanism to operate in the emergency mode, the emergency signal is sent to the controller connected with the reel motor, so that the controller controls the operation of the cable reel of the lifting appliance through the reel motor, and further controls the operation of the cable of the lifting appliance.
The emergency signal is typically a start signal or a stop signal, and when the emergency signal is a start signal, the emergency signal may further comprise a direction signal to indicate the direction of travel of the spreader cable, which is typically the same as the direction of travel of the hoisting mechanism.
And S202, controlling the running state of the cable reel of the lifting appliance through the reel motor based on the emergency signal and the preset running parameter.
Because synchronous movement of the spreader cable and the hoisting mechanism is required in the emergency mode, the preset operation parameters are generally related to the operation parameters of the hoisting mechanism in the emergency mode; if the hoisting mechanism adopts a fixed operation speed in the emergency mode, the preset operation parameters also comprise a preset speed, and the preset speed can be the same as the operation speed of the hoisting mechanism in the emergency mode; the controller can output a motor control signal matched with the preset operation parameter, and the reel motor can control the cable reel of the lifting appliance to operate in an operation state indicated by the preset operation parameter after receiving the motor control signal, such as operation at a preset speed.
The embodiment of the invention provides a control method of a hanger cable reel, which comprises the steps of receiving an emergency signal sent by a control loop, and controlling the running state of the hanger cable reel through a reel motor based on the emergency signal and preset running parameters; the mode improves the control precision and reliability of synchronous motion of a hanger cable and a hoisting mechanism of the crane in an emergency operation mode, and reduces the labor cost.
The embodiment of the present invention further provides a method for controlling a spreader cable reel, which is implemented on the basis of the method described in the above embodiment, as shown in fig. 3, the method includes the following steps:
step S300, receiving an emergency signal sent by a control loop; the emergency signal comprises a starting signal and a direction signal. The start signal is used for indicating the start of operation of the hanger cable reel; the direction signal is used to indicate the direction of travel of the spreader cable reel, which is consistent with the direction of travel of the emergency mechanism.
Step S302, a first motor control signal is sent to a reel motor, a reel motor is used for controlling a cable reel of a lifting appliance to move at a preset speed according to the movement direction indicated by a direction signal; the first motor control signal corresponds to the direction of movement indicated by the direction signal and the predetermined speed.
The preset speed is preset and corresponds to the running speed of the hoisting mechanism in the emergency mode; when the reel motor controls the movement direction of the hanger cable reel according to the direction signal indication, the hanger cable reel can drive the hanger cable to move synchronously with the hoisting mechanism when the hanger cable reel operates at a preset speed. The controller can be a frequency converter, and a preset speed is set in the frequency converter; when the frequency converter receives the starting signal and the direction signal, a motor control signal can be sent to the reel motor, and the reel motor controls the cable reel of the lifting appliance to run at a preset speed according to the movement direction indicated by the direction signal; at this time, the reel motor is also a variable frequency motor.
The emergency signal can also be a stop signal; when the controller receives the stop signal, the controller sends a second motor control signal to the reel motor, and the reel motor controls the lifting appliance cable reel to stop running.
And step S304, receiving a speed feedback signal sent by the reel motor.
The speed feedback signal is generated based on the current running speed of the hanger cable reel, and the current running speed of the hanger cable reel can be obtained through the speed feedback signal.
Step S306, judging whether the difference between the current running speed indicated by the speed feedback signal and a preset speed is greater than a preset speed threshold value; if yes, go to step S308; if not, step S306 is performed.
The preset speed corresponds to the running speed of the hoisting mechanism; when the difference between the current running speed indicated by the speed feedback signal and the preset speed is greater than the preset speed threshold, the difference between the speed of the hanger cable and the speed of the hoisting mechanism is greater than an allowable range (namely, the speed threshold), and the control on the running state of the hanger cable reel is in a fault state.
Step S308, sending a first fault signal to a control loop to enable the control loop to control the hoisting mechanism to stop running; normally, the control circuit is connected with the hoisting mechanism, and when a first fault signal sent by the controller is received, the control circuit cuts off a power supply to the hoisting mechanism so as to stop the hoisting mechanism.
The embodiment of the invention provides a control method of a hanger cable reel, which comprises the steps of sending a first motor control signal to a reel motor after receiving an emergency signal sent by a control loop, controlling the movement direction of the hanger cable reel according to a direction signal through the reel motor, and running at a preset speed; and receiving a speed feedback signal sent by a reel motor, and sending a first fault signal to the control loop when the difference between the current running speed indicated by the speed feedback signal and the preset speed is greater than a preset speed threshold value so that the control loop controls the hoisting mechanism to stop running. The mode improves the control precision and reliability of synchronous motion of the lifting appliance cable and the lifting mechanism of the crane in an emergency operation mode, and prevents accidents caused by the fact that the lifting appliance cable and the lifting mechanism are asynchronous.
The embodiment of the invention also provides another control method of the cable reel of the lifting appliance, which is applied to a control loop of a lifting mechanism; a control loop of the hoisting mechanism is connected with the controller; the controller, the reel motor and the hanger cable reel are connected in sequence; as shown in fig. 4, the method comprises the steps of:
and S400, when an emergency mode instruction triggered by a user is received, sending an emergency signal to the controller, so that the controller controls the running state of the cable reel of the lifting appliance through the reel motor based on the emergency signal and preset running parameters.
The control loop is usually also connected with a hoisting mechanism; the preset operation parameters comprise preset speed; when a first fault signal sent by the controller is received, controlling the hoisting mechanism to stop running; and the controller receives a speed feedback signal sent by the reel motor, judges that the difference between the current running speed indicated by the speed feedback signal and the preset speed is greater than a preset speed threshold value, and sends the first fault signal to the control loop.
In addition, the control loop is also connected with a cable reel detection limit; the cable reel detection limit is used for detecting the tightness state of the hanger cable reel; when the control loop receives a second fault signal sent by the cable reel detection limit, the hoisting mechanism is controlled to stop running; the second fault signal is used to indicate that the spreader cable spool is in an over-loosened or over-tightened state.
The embodiment of the invention provides a control method of a hanger cable reel, which comprises the steps of sending an emergency signal to a controller when receiving an emergency mode instruction triggered by a user, so that the controller controls the running state of the hanger cable reel through a reel motor based on the emergency signal and preset running parameters; by the aid of the method, the control precision and reliability of synchronous motion of a lifting appliance cable and a lifting mechanism of the crane in an emergency operation mode are improved, and labor cost is reduced.
The embodiment of the invention also provides another control method for the cable reel of the lifting appliance, which is mainly applied to an emergency mode of a crane and mainly solves the following problems: in emergency mode, automatic control of the spreader cable reel (also referred to simply as "reel"), synchronous operation of the spreader cable reel and the hoisting mechanism, and protection of the operating state of the spreader cable reel.
The method is realized based on a control loop, an emergency motor, an emergency power supply, a reel motor, a reel frequency converter and a hanger cable reel power supply, and the specific realization process is as shown in fig. 5, wherein the control loop is used for sending a starting signal and a direction signal which are only sent to the emergency motor and are simultaneously sent to the reel frequency converter (which is equivalent to a controller in the embodiment and is also called as the frequency converter); the start signal and the direction signal are usually obtained by an operator triggering a control loop; the frequency converter controls the lifting or descending speed of the reel by presetting a speed output (which is equivalent to the preset speed in the embodiment) which is the same as that of the lifting emergency mechanism, so that the synchronous operation of the speed of the reel and the speed of the lifting mechanism is realized, and the control error or misoperation caused by manual operation is reduced. When the speed difference between the lifting appliance cable reel and the lifting mechanism exceeds an allowable range or the cable reel monitors and limits the position to send a signal that the cable is too tight or too loose, the power supply of the emergency mechanism can be automatically cut off, and the operation safety is ensured.
In the emergency mode, the operation of the hoisting mechanism is driven by an emergency motor and is directly controlled by a hard loop of a control loop of the emergency motor; the control loop sends the starting signal and the direction signal (ascending or descending) of the hoisting mechanism to the frequency converter of the cable reel of the lifting appliance as the starting signal and the positive and negative signals of the frequency converter to control the starting, stopping and positive and negative rotation of the frequency converter; the frequency converter controls the lifting or descending speed of the reel by presetting a speed output which is the same as that of the lifting emergency mechanism, so that the synchronous operation of the running speed of the reel and the running speed of the lifting mechanism is realized. When the speed difference between the cable reel of the lifting appliance and the lifting mechanism exceeds an allowable range (the speed feedback is realized by the reel motor, and after the reel frequency converter receives the speed feedback, the difference between the running speed of the reel and the preset speed is determined to obtain the speed difference between the cable reel of the lifting appliance and the lifting mechanism), or the cable reel sends a signal that the cable is too tight or too loose (fault feedback is sent to a control loop of an emergency mechanism by the reel), the control loop can automatically switch the running of the lifting mechanism and the cable reel of the lifting appliance, so that the cable of the lifting appliance is prevented from being damaged, and the working principle diagram of the control loop is shown in fig. 6.
The method is based on the speed presetting function of the reel frequency converter, realizes automatic control of the cable reel of the lifting appliance, synchronous detection of the mechanism and the reel operation and protection of the lifting appliance cable in an emergency mode, reduces field operators and reduces labor cost.
Corresponding to the embodiment of the control method of the hanger cable reel, the embodiment of the invention also provides a control device of the hanger cable reel, which is arranged on the controller; the controller is respectively connected with the reel motor and a control loop of the hoisting mechanism; the reel motor is connected with the hanger cable reel; the reel motor is connected with the hanger cable reel; as shown in fig. 7, the apparatus includes:
the signal receiving module 700 is configured to receive an emergency signal sent by the control loop;
and the control module 702 is configured to control the operating state of the cable reel of the lifting appliance through the reel motor based on the emergency signal and the preset operating parameter.
Further, the emergency signal comprises a starting signal and a direction signal; the preset operation parameters comprise preset speed; the control module is further configured to: sending a first motor control signal to a reel motor, controlling the movement direction of a hanger cable reel according to the direction signal indication through the reel motor, and running at a preset speed; the first motor control signal corresponds to the direction of movement indicated by the direction signal and the predetermined speed.
Further, the emergency signal comprises a stop signal; the control module is further configured to: and sending a second motor control signal to the reel motor, and controlling the lifting appliance cable reel to stop running through the reel motor.
Furthermore, the control loop is also connected with a hoisting mechanism; the above-mentioned device still includes: the feedback signal receiving module is used for receiving a speed feedback signal sent by the reel motor; the speed judging module is used for judging whether the difference between the current running speed indicated by the speed feedback signal and the preset speed is greater than a preset speed threshold value or not; and the fault signal sending module is used for sending a first fault signal to the control loop if the fault signal is positive so that the control loop controls the hoisting mechanism to stop running.
The control device for the hanger cable reel provided by the embodiment of the invention has the same technical characteristics as the control method for the hanger cable reel provided by the embodiment, so that the same technical problems can be solved, and the same technical effects can be achieved.
The embodiment of the invention also provides another control device for the cable reel of the lifting appliance, which is arranged on a control loop of the lifting mechanism; a control loop of the hoisting mechanism is connected with the controller; the controller, the reel motor and the hanger cable reel are connected in sequence; as shown in fig. 8, the apparatus includes:
and the signal sending module 800 is used for sending an emergency signal to the controller when receiving an emergency mode instruction triggered by a user, so that the controller controls the running state of the cable reel of the lifting appliance through the reel motor based on the emergency signal and preset running parameters.
Furthermore, the control loop is also connected with a hoisting mechanism; the preset operation parameters comprise preset speed; the above-mentioned device still includes: the first fault control module is used for controlling the hoisting mechanism to stop running when receiving a first fault signal sent by the controller; and the controller receives a speed feedback signal sent by the reel motor, judges that the difference between the current running speed indicated by the speed feedback signal and the preset speed is greater than a preset speed threshold value, and sends the first fault signal to the control loop.
Furthermore, the control loop is also connected with a cable reel detection limiting and lifting mechanism; the cable reel detection limit is used for detecting the tightness state of the hanger cable reel; the above-mentioned device still includes: the second fault control module is used for controlling the hoisting mechanism to stop running when receiving a second fault signal sent by the cable reel detection limit; the second fault signal is used to indicate that the spreader cable spool is in an over-loosened or over-tightened state.
The other control device for the cable reel of the lifting appliance provided by the embodiment of the invention has the same technical characteristics as the control method for the cable reel of the lifting appliance provided by the embodiment, so that the same technical problems can be solved, and the same technical effects can be achieved.
Based on the above embodiment, an embodiment of the present invention further provides a crane, as shown in fig. 9, the crane includes a hoisting mechanism 90, a control loop 91, a controller 92, a reel motor 93, and a spreader cable reel 94, which are connected in sequence; the control device of the hanger cable reel is arranged on the controller; the other control device for the sling cable reel is arranged in a control loop.
The method and the device for controlling a spreader cable reel and the computer program product of a crane provided by the embodiments of the present invention include a computer readable storage medium storing program codes, where instructions included in the program codes may be used to execute the method described in the foregoing method embodiments, and specific implementation may refer to the method embodiments, and will not be described herein again.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the system and the apparatus described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In addition, in the description of the embodiments of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases for those skilled in the art.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope of the present disclosure; such modifications, changes or substitutions do not depart from the spirit and scope of the embodiments of the present invention, and they should be construed as being included therein. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (8)
1. A method of controlling a spreader cable reel, the method being applied to a controller; the controller is respectively connected with the reel motor and a control loop of the hoisting mechanism; the reel motor is connected with the hanger cable reel; the method comprises the following steps:
receiving an emergency signal sent by the control loop;
when the control loop receives an emergency mode instruction triggered by a user, an emergency signal can be generated;
controlling the running state of the cable reel of the lifting appliance through the reel motor based on the emergency signal and preset running parameters;
the emergency signal comprises a starting signal and a direction signal; the preset operation parameters comprise preset speed;
based on the emergency signal and preset operation parameters, the operation state step of the hanger cable reel is controlled by the reel motor, and the operation state step comprises the following steps:
sending a first motor control signal to the reel motor, controlling the movement direction of the hanger cable reel according to the direction signal through the reel motor, and running at the preset speed; the first motor control signal corresponds to the movement direction indicated by the direction signal and the preset speed; the preset speed is the same as the running speed of the hoisting mechanism in the emergency mode.
2. The method of claim 1, wherein the panic signal comprises a stop signal;
based on the emergency signal and preset operation parameters, the step of controlling the motion state of the hanger cable reel through the reel motor comprises the following steps:
and sending a second motor control signal to the reel motor, and controlling the hanger cable reel to stop running through the reel motor.
3. The method of claim 1, wherein the control loop is further connected to a hoist; the method further comprises the following steps:
receiving a speed feedback signal sent by the reel motor;
judging whether the difference between the current running speed indicated by the speed feedback signal and the preset speed is greater than a preset speed threshold value or not;
and if so, sending a first fault signal to the control loop so that the control loop controls the lifting mechanism to stop operating.
4. A method of controlling a spreader cable reel, the method being applied to a control loop of a hoisting mechanism; a control loop of the hoisting mechanism is connected with the controller; the controller, the reel motor and the hanger cable reel are connected in sequence; the method comprises the following steps:
when an emergency mode instruction triggered by a user is received, an emergency signal is sent to the controller, so that the controller controls the running state of the hanger cable reel through the reel motor based on the emergency signal and preset running parameters;
the control loop is also connected with a hoisting mechanism; the preset operation parameters comprise preset speed; the method further comprises the following steps:
when a first fault signal sent by the controller is received, controlling the hoisting mechanism to stop running;
the controller receives a speed feedback signal sent by the reel motor, and the first fault signal is sent to the control loop after judging that the difference between the current running speed indicated by the speed feedback signal and the preset speed is greater than a preset speed threshold; the preset speed is the same as the running speed of the hoisting mechanism in the emergency mode.
5. The method of claim 4, wherein the control loop is further connected to a cable reel detection limit and hoist mechanism; the cable reel detection limit is used for detecting the tightness state of the hanger cable reel; the method further comprises the following steps:
when a second fault signal sent by the cable reel detection limit is received, controlling the hoisting mechanism to stop running; the second fault signal is used to indicate that the spreader cable spool is in an over-loosened or over-tightened state.
6. A control device for a hanger cable reel, characterized in that the device is arranged on a controller; the controller is respectively connected with the reel motor and a control loop of the hoisting mechanism; the reel motor is connected with the hanger cable reel; the reel motor is connected with the hanger cable reel; the device comprises:
the signal receiving module is used for receiving the emergency signal sent by the control loop; when the control loop receives an emergency mode instruction triggered by a user, an emergency signal can be generated;
the control module is used for controlling the running state of the cable reel of the lifting appliance through the reel motor based on the emergency signal and preset running parameters;
the emergency signal comprises a starting signal and a direction signal; the preset operation parameters comprise preset speed;
the control module is further configured to:
sending a first motor control signal to the reel motor, controlling the movement direction of the hanger cable reel according to the direction signal through the reel motor, and running at the preset speed; the first motor control signal corresponds to the movement direction indicated by the direction signal and the preset speed; the preset speed is the same as the running speed of the hoisting mechanism in the emergency mode.
7. A control device for a cable reel of a lifting appliance is characterized in that the device is arranged in a control loop of a lifting mechanism; a control loop of the hoisting mechanism is connected with the controller; the controller, the reel motor and the hanger cable reel are connected in sequence; the device comprises:
the signal sending module is used for sending an emergency signal to the controller when receiving an emergency mode instruction triggered by a user, so that the controller controls the running state of the cable reel of the lifting appliance through the reel motor based on the emergency signal and preset running parameters; the emergency signal comprises a starting signal and a direction signal; the preset operation parameters comprise preset speed; the controller sends a first motor control signal to the reel motor, and the reel motor controls the hanger cable reel to run at the preset speed according to the movement direction indicated by the direction signal; the first motor control signal corresponds to the movement direction indicated by the direction signal and the preset speed; the preset speed is the same as the running speed of the hoisting mechanism in the emergency mode.
8. The crane is characterized by comprising a hoisting mechanism, a control loop, a controller, a reel motor and a hanger cable reel which are sequentially connected; the device of claim 6 disposed in the controller; the apparatus of claim 7 disposed in the control loop.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010248076.1A CN111362170B (en) | 2020-03-31 | 2020-03-31 | Control method and device for hanger cable reel and crane |
| PCT/CN2021/081081 WO2021197052A1 (en) | 2020-03-31 | 2021-03-16 | Control method and device for sling cable reel, and crane |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010248076.1A CN111362170B (en) | 2020-03-31 | 2020-03-31 | Control method and device for hanger cable reel and crane |
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| CN111362170A CN111362170A (en) | 2020-07-03 |
| CN111362170B true CN111362170B (en) | 2022-06-21 |
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| WO (1) | WO2021197052A1 (en) |
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| CN111362170B (en) * | 2020-03-31 | 2022-06-21 | 三一海洋重工有限公司 | Control method and device for hanger cable reel and crane |
| CN113044722B (en) * | 2021-03-09 | 2024-03-15 | 上海振华重工(集团)股份有限公司 | Crane control method and device |
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| AU2406784A (en) * | 1983-02-03 | 1984-08-09 | Continental Emsco Company | Emergency control hydraulic system for a crane |
| CN2789205Y (en) * | 2005-04-11 | 2006-06-21 | 上海振华港口机械（集团）股份有限公司 | Hystersis variable frequency slings cable reeler |
| CN101830400B (en) * | 2010-04-27 | 2013-03-27 | 青岛港（集团）有限公司 | Track crane and driving control system thereof |
| CN202226486U (en) * | 2011-08-29 | 2012-05-23 | 上海振华港机（集团）宁波传动机械有限公司 | Control device for cable reel |
| CN202272591U (en) * | 2011-09-30 | 2012-06-13 | 宁波新伟隆机械制造有限公司 | Constant-torque cable drum control device |
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| CN111362170B (en) * | 2020-03-31 | 2022-06-21 | 三一海洋重工有限公司 | Control method and device for hanger cable reel and crane |
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| WO2021197052A1 (en) | 2021-10-07 |
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